I don't know of any method right off hand to grant only that right, but if the user is going to be connecting to the domain when they logon with the first time their domain account, you could place the Domain Users group in the local Administrators group. Then take the vbscript below and place it somewhere such as the %TEMP% folder and point to it from HKLM\Software\Microsoft\Windows\CurrentVersion\RunOnce
'*** Pulls the Domain Users group from the local admin group
On Error Resume Next
Set objShell = WScript.CreateObject("WScript.Shell")
strCompname = objShell.ExpandEnvironmentStrings ( "%COMPUTERNAME%" )
strDom = "YOUR DOMAIN NAME"
Set objGrp = GetObject ( "WinNT://" & strCompname & "/Administrators,group" )
objGrp.Remove ( "WinNT://" & StrDom & "/Domain Users,group" )
Include a note that they must hook up the printer the first time they log in, test it, and logoff or reboot once they verified it works. They will have admin rights, but only for that one session since the global domain users group will have been removed as soon as they logged in.
There is the slight risk of a savy end user noticing that he has admin rights before logging off and adding his account to the local admin group, but that is slim. There is also the risk that they ignore the instructions and log off before installing the printer. Overall, you will take care of the majority.
I have used this method a few times to complete software updates such as MDAC & JET SPs that are pushed out via Zenworks and require admin rights to finish up the install doing things such as registering .dlls after the reboot.